CN101631973B - Travel control device for work vehicle - Google Patents
Travel control device for work vehicle Download PDFInfo
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- CN101631973B CN101631973B CN2008800080719A CN200880008071A CN101631973B CN 101631973 B CN101631973 B CN 101631973B CN 2008800080719 A CN2008800080719 A CN 2008800080719A CN 200880008071 A CN200880008071 A CN 200880008071A CN 101631973 B CN101631973 B CN 101631973B
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- 238000000605 extraction Methods 0.000 claims description 38
- 239000003921 oil Substances 0.000 abstract description 77
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- 238000011144 upstream manufacturing Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2289—Closed circuit
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4078—Fluid exchange between hydrostatic circuits and external sources or consumers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/46—Automatic regulation in accordance with output requirements
- F16H61/47—Automatic regulation in accordance with output requirements for achieving a target output speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed- or reversing-gearings for conveying rotary motion
- F16H59/68—Inputs being a function of gearing status
- F16H2059/6838—Sensing gearing status of hydrostatic transmissions
- F16H2059/6861—Sensing gearing status of hydrostatic transmissions the pressures, e.g. high, low or differential pressures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4148—Open loop circuits
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/425—Motor capacity control by electric actuators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/433—Pump capacity control by fluid pressure control means
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Fluid Gearings (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A travel control device for a work vehicle has a first circuit (HC1) for travel, asecond circuit (HC2) for work, and a maximum value limitation section (10). The first ircuit (HC1) is formed as a closed circuit where a variable displacement hydraulic pump (2) and a variable displacement hydraulic motor (3) are interconnected, and the first circuit (HC1) has motor control sections (10, 11) for controlling the displacement volume of the hydraulic oil motor (3). The second circuit (HC2) drives hydraulic actuators (114, 115) for work by using pressurized oil from a hydraulic pump (4) for work. The maximum value limitation section (10) limits the maximum value of the displacement volume of the hydraulic motor (3) based on a negative pressure (Pf) of the second circuit (HC2). When the negative pressure (Pf) of the second circuit exceeds a predetermined value (Ps), the maximum value limitation section (10) reduces the maximum value of the displacement volume to a minimum limit value (q1) corresponding to a maximum negative pressure (Pr) of the second circuit.
Description
Technical field
The travel controlling system of the working truck that the present invention relates to drive through the HST loop, wherein, the HST loop is formed by connecting variable capacity type oil hydraulic pump and variable capacity type oil hydraulic motor loop circuit.
Background technique
Have during HST goes with loop and the working truck of operation with the loop in for example wheel loader that kind,, promote the scraper bowl difficulty that becomes if the lifting force of the excessive then shear leg of driving force that goes reduces.And tire can slippage in scraper bowl injection soil sand and when promoting, and the driving force of going can reduce on the contrary, and operation property is impaired.
On the other hand, known a kind of the pressure with the discharge of oil hydraulic pump according to operation limits, reduces the device (for example with reference to patent documentation 1) of the driving force of going to going with the maximum value of the oil extraction volume of oil hydraulic motor.In the device of this patent documentation 1 record, preestablish along with operation with the characteristic that increase is pressed in the discharge of oil hydraulic pump, the maximum value with the oil extraction volume of oil hydraulic motor of going diminishes gradually, limit according to the oil extraction volume of this characteristic motor.
Patent documentation 1: No. 2818474 communique of Japan Patent (Fig. 2)
Summary of the invention
Yet, sometimes, scraper bowl etc. is charged in the massif of native sand etc. after, in driving the digging operation that dipper promotes, operation can sharply rise near the maximum load pressure with the load pressure of oil hydraulic pump when promoting scraper bowl.But, compress into row variation needs elapsed time with the oil extraction volume of oil hydraulic motor according to load owing to go, so the rapid change that the variation of oil extraction volume can't tracking task load pressure.Therefore, the driving force of going can't descend fully, the deterioration of operation property.
The travel controlling system of working truck of the present invention; Have: first loop; The variable capacity type oil hydraulic pump is connected with variable capacity type oil hydraulic motor loop circuit and forms this first loop, and this first loop has the motor control device of the oil extraction volume of control oil hydraulic motor; Second loop, this second loop is through driving with hydraulic actuator operation from the pressure oil of operation with oil hydraulic pump; The maximum value limitation part; This maximum value limitation part presses the maximum value to the oil extraction volume of oil hydraulic motor to limit according to the load in second loop; Press above specified value when the load in second loop, the maximum value limitation part is reduced to the maximum load in second loop maximum value of oil extraction volume and presses corresponding minimum limit value.
Can also use hydraulic actuator with cylinder and the dipper that drives the dipper that is used to support scraper bowl with the cylinder fabrication process with the scraper bowl that drives scraper bowl, said specified value is redefined for the maximum load pressure of scraper bowl with the driving of cylinder.
Can also further have the limits value configuration part of setting the minimum limit value through manually-operable.
Can also work as the load in second loop and press the drive pressure that surpasses the specified value and first loop to surpass specified value, be reduced to the minimum limit value step by step along with effluxion makes the maximum value of oil extraction volume.
Can also work as the load in second loop and press the drive pressure that surpasses the specified value and first loop to surpass specified value, be reduced to the minimum limit value gradually along with effluxion makes the maximum value of said oil extraction volume.
Can also work as the load in second loop and press, press the situation that surpasses specified value to compare, the peaked minimizing ratio of oil extraction volume is increased with the load in second loop above specified value.
The maximum value limitation part is had: first operational loop, this first operational loop is according to predetermined first characteristic, and the first oil extraction volume of corresponding oil hydraulic motor is pressed in the load in the computing and first loop; Second operational loop, this second operational loop is according to predetermined second characteristic, and the second oil extraction volume of corresponding oil hydraulic motor is pressed in the load in the computing and second loop; Output loop; This output loop is exported control signal with the peaked mode that the first oil extraction volume that computing is obtained and the arbitrary smaller value in the second oil extraction volume are restricted to the oil extraction volume; Second characteristic is set to; When the load in second loop is pressed above specified value, second oil extraction volume reducing to the minimum limit value.
Can also do, press in the load in second loop not reach in the scope of specified value that the second oil extraction volume is consistent with the maximum value of first characteristic with second property settings.
Can also make the maximum load pressure in second loop is the safety pressure that limits with safety valve (relief valve).
The effect of invention
According to the present invention; When operation is pressed above specified value with the load in loop; Then make the maximum value of going be reduced to the minimum limit value, therefore, sharply rise under the situation that maximum load presses even press in the operation load with the oil extraction volume of the oil hydraulic motor in loop; The driving force of going can excessively not increase yet, and can improve operation property.
Description of drawings
Fig. 1 is the side view as the wheel loader of an example of the working truck of the travel controlling system that has been suitable for mode of execution of the present invention.
Fig. 2 is the figure that roughly constitutes of the travel controlling system of expression first mode of execution.
Fig. 3 is the block diagram of formation of the controller of presentation graphs 1.
Fig. 4 is the figure of the action of the expression digging operation that wheel loader carried out.
The figure of Fig. 5 characteristic that to be expression vert with the motor of Fig. 3 contrast.
Fig. 6 is the figure that roughly constitutes of the travel controlling system of expression second mode of execution.
Fig. 7 is the figure of characteristic of the motor CLV ceiling limit value of verting of expression second mode of execution.
Fig. 8 is the figure of control area of the regulation of expression the 3rd mode of execution.
Fig. 9 is the figure of characteristic of the motor CLV ceiling limit value of verting of expression the 3rd mode of execution.
Figure 10 is to the characteristic of Fig. 9 figure to represent with the relation of endurance.
Figure 11 is the figure of the variation of expression Figure 10.
Figure 12 is the figure of other characteristics of the expression motor CLV ceiling limit value of verting.
Embodiment
First mode of execution
Below, first mode of execution of the travel controlling system of working truck of the present invention is described with reference to Fig. 1～Fig. 5.
Fig. 1 is the side view as the wheel loader of an example of the working truck of the travel controlling system that has been suitable for embodiment of the present invention.Wheel loader 100 is made up of foreside bodywork 110 with dipper 111, scraper bowl 112, tire 113 etc. and rear portion vehicle body 120 with operator cabin 121, engine compartment 122, tire 123 etc.Dipper 111 rotates (pitching movement) on above-below direction through the driving of dipper cylinder 114, scraper bowl 112 rotation on above-below direction through the driving of scraper bowl cylinder 115 (topple over or shovel dress).Foreside bodywork 110 links with the mode that can freely rotate through centrepin 101 with rear portion vehicle body 120 each other, and foreside bodywork 110 bends with respect to rear portion vehicle body about 120 through the flexible of steering cylinder (not shown).
Fig. 2 is the figure that roughly constitutes of the travel controlling system of expression first mode of execution.Going has the variable capacity type oil hydraulic pump 2 that drives through motor 1 and the oil hydraulic motor 3 of the variable capacity type that drives through the pressure oil from oil hydraulic pump 2 with oil hydraulic circuit HC 1, with a pair of main line LA, LB the HST loop that oil hydraulic pump 2 and oil hydraulic motor 3 loop circuits are formed by connecting being constituted.Operation comprises dipper cylinder 114 and scraper bowl cylinder 115 with oil hydraulic circuit HC2, is supplied to these cylinders 114,115 from the operation that drives through motor 1 with the pressure oil of oil hydraulic cylinder 4.Operation is restricted to safety pressure Pr with the upper limit pressure of oil hydraulic circuit HC2 through safety valve.
From the pressure oil of the supply pump that drives through motor 15, advance switching valve 6 via front and back and be imported into the cylinder 8 that verts.Before and after advance switching valve 6 and operate through operating stem 6a, as illustrate, when front and back are advanced switching valve 6 and are positioned at the neutral position, advance switching valve 6 via throttle valve 7 and front and back from the pressure oil of supply pump 5, act on the 8a of grease chamber, the 8b of the cylinder 8 that verts respectively.Under this state, the pressure that acts on the 8a of grease chamber, 8b is equal to each other, and piston 8c is positioned at the neutral position.Therefore, the oil extraction volume of oil hydraulic pump 2 becomes 0, and pump delivery is 0.
Current laggard switching valve 6 is switched to the A side, because the 8a of grease chamber, 8b are acted on the upstream side pressure and the downstream side pressure of throttle valve 7 respectively, thereby between the 8a of the grease chamber of cylinder 8,8b, produce pressure difference, and piston 8c is right-hand to moving to diagram.Thus, the pump amount of verting of oil hydraulic pump 2 increases, and is imported into oil hydraulic motor 3 from the pressure oil of oil hydraulic pump 2 via main line LA, and oil hydraulic motor 3 is just changeing, and vehicle advances.Current laggard switching valve 6 is switched to the B side, and the piston 8c of the cylinder 8 that verts to moving, via main line LB is imported into oil hydraulic motor 3, oil hydraulic motor 3 counter-rotatings from the pressure oil of oil hydraulic pump 2 to the diagram left.
Engine speed is adjusted through accelerator pedal 9, and the discharge capacity and the engine speed of supply pump 5 are proportional.Therefore, the front and back pressure reduction and the engine speed of throttle valve 7 are proportional, and the pump amount of verting is also proportional with engine speed.In addition, also be imported into main line LA, LB from the pressure oil of supply pump 5 through throttle valve 7 and test valve 13A, 13B.The downstream side pressure of throttle valve 7 limits through supplying with safety valve 12, and the maximum pressure of main line LA, LB limits through safety valve 14.
To controller 10, input presses Pt by the main line LA that selects with high selector relay 15, the pressure of LB as the loop of going, and, press Pf input operation to press as the operation loop with the discharge of pump 4.Controller 10 comprise have CPU, the arithmetic processing apparatus in ROM, RAM and other peripheral loop etc. and constituting.CPU carries out following processing, and to electric regulator 11 output control signals.Regulator 11 drives the controlling rod 3a that verts according to this control signal, the oil extraction volume (motor verts) of oil hydraulic motor 3 is controlled at vert qmin and maximum of minimum verts between the qmax.
Fig. 3 is the block diagram of the processing in the expression controller 10.The loop pressure Pt that goes is transfused to function generator 10A.Among the function generator 10A, preestablish the such characteristic L1 of diagram, press the corresponding motor target of the Pt qm (target oil extraction volume) that verts according to this characteristic L1 computing and the loop of going.According to characteristic L1, the motor target qm that verts was the minimum qmin that verts when the loop of going pressed Pt not reach specified value P0; Go the loop when pressing Pt to be specified value P0 the motor target qm that verts increase to the maximum qmax that verts from the minimum qmin that verts; Go the loop when pressing Pt to surpass specified value P0 the motor target qm that verts become the maximum qmax that verts.At this, the long-pending output torque with oil hydraulic motor 3 that the loop of going presses Pt (say, be the pressure reduction of main line LA, LB tightly) and motor to vert is suitable, and oil hydraulic motor 3 is exported and the torques of load corresponding driving, obtains the driving force of going of vehicle thus.
The operation loop presses Pf to be input to function generator 10B.Among the function generator 10B, preestablish the such characteristic L2 of diagram, with the CLV ceiling limit value qlim that presses Pf computing motor to vert according to this characteristic L2, according to the operation loop.The longitudinal axis of characteristic L2 is represented with respect to the vert ratio of qmax of the motor maximum of characteristic L1.According to characteristic L2, press Pf to reach specified value Ps up to the operation loop, the CLV ceiling limit value qlim that motor verts equals the maximum qmax (100%) that verts; Press Pf when the operation loop and reach specified value Ps, then in the scope that plays Δ P from here, CLV ceiling limit value qlim is reduced to specified value q1 point-blank; Pressing Pf when the operation loop is that CLV ceiling limit value qlim becomes specified value q1 more than the Ps+ Δ P.
At this, it is that maximum load when pressing (safety is pressed), the motor that can bring into play the driving force of going that balances each other with the operation load vert that specified value q1 is equivalent to press in the operation loop Pf.That is to say that be suppressed at below the specified value q1 if when maximum load is pressed Pr, the motor maximum verted, then with respect to the lifting force of dipper 111, the driving force of going is the most suitable.Under this state, can prevent the slippage of tire, can carry out good digging operation.
In addition; During with scraper bowl 112 injection soil sand; Dipper 111 receives the counter-force from native sand, but maximum load when pressing Pr as long as the motor maximum is verted for below the specified value q1, the driving force of going is suppressed; Thereby the counter-force that acts on dipper 111 can excessively not increase, can be through bar processing ease ground lifting dipper 111.In addition, q1 is as the big value of qmin of verting than minimum, for example preestablished as vert about 50～70% the value of qmax of maximum.Δ P sets for control stable, and also can make Δ P is 0.Below, for making Δ P, simplified illustration 0 describes.
Usually; The digging operation that wheel loader 100 is carried out carries out in the following manner, that is, as shown in Figure 4; In the massif 30 with scraper bowl 112 injection soil sand etc.; Operation scraper bowl 112 is mentioned operation to dipper 111 then, perhaps operates scraper bowl 112 and dipper 111 simultaneously, in the end only dipper 111 is mentioned operation again.In such digging operation, usually, the induced pressure the when induced pressure during the scraper bowl operation is operated than dipper is low.For example; If the operation loop when making the scraper bowl operation presses the excursion (scraper bowl operating range) of Pf to be Rb; Operation loop when making the dipper operation presses the excursion (dipper operating range) of Pf to be Ra; Then shown in the function generator 10B of Fig. 3, it is scraper bowl operating range Rb that the little zone of Pf is pressed in the operation loop, and it is dipper operating range Ra that the big zone of Pf is pressed in the operation loop.
In this mode of execution, near the specified value Ps of the setting property L2 maximum value of scraper bowl operating range Rb.The maximum value of the minimum value of dipper operating range Ra and scraper bowl operating range Rb be specified value Ps about equally, the maximum value of dipper operating range Ra is that safety is pressed Pr.In addition, dipper operating range Ra and proportion different change of scraper bowl operating range Rb because of the excavation thing, Ps is not the border that is in Ra and Rb all the time, but in this mode of execution, adopts the value of representational Ra, Rb, specified value Ps is set in the border of Ra and Rb.
The CLV ceiling limit value qlim that the motor target that obtains with function generator 10A computing is verted qm and the motor that obtains with function generator 10B computing verts is imported minimum value respectively and is selected loop 10C.In minimum value is selected loop 10C, select that less value among qm and the qlim, and export it to regulator 11 as the target qm that verts.Thus, with CLV ceiling limit value qlim the maximum value that motor verts is limited.
Below, the action of the travel controlling system of this mode of execution of summary explanation.
When digging operation as shown in Figure 4, wheel loader 100 to be advanced by leaps and bounds to massif 130, operation scraper bowl cylinder 115 is taken into native sand etc. in the scraper bowl 112.At this moment, because usually to press Pf be below the specified value Ps in the operation loop, thereby the CLV ceiling limit value qlim that verts of motor becomes with the maximum qmax that verts and equates, can bring into play the maximum driving force of going.Therefore can scraper bowl 112 effectively in the injection soil sand, can easily be taken into native sand in the scraper bowl 112.
Then, only operate dipper cylinder 114, or dipper cylinder 114 and scraper bowl cylinder 115 are carried out composition operation, scraper bowl 112 is promoted.When the dipper pull-up is operated, to compare when operating with scraper bowl, the operation loop presses Pf to rise, and presses Pf when the operation loop and becomes more than the specified value Ps, and then the CLV ceiling limit value qlim that verts of motor sharply is reduced to specified value q1.Under this state, even pressing Pf sharply to rise to safety, dipper when operation operation loop presses near the Pr, also can the motor maximum be verted is suppressed at below the specified value q1.Therefore, the driving force that when the dipper pull-up is operated, can prevent to go becomes excessive, can make the dipper pull-up power and the driving force of going obtain good balance.Consequently, can easily scraper bowl 112 be promoted, operating efficiency improves.
Relative therewith; For example if shown in the characteristic L3 of Fig. 5, make CLV ceiling limit value qlim that motor verts press the rising of Pf and reduce gradually along with the operation loop; Then the operation loop presses Pf when Ps sharply rises to Pr when dipper is operated, and the CLV ceiling limit value qlim that motor is verted exports as q1.But, under motor verts the situation of actual change, usually; Because of there are the answering delay about 0.2～0.8 second in the structure of oil hydraulic motor, the difference of size; Therefore, motor verts and can't the tracking task loop presses the variation of Pf, and the driving force of going can instantaneously not reduce.Therefore, the driving force of going becomes excessive, scraper bowl 112 is risen immediately become difficult.Therefore, rise in order to make scraper bowl 112, the counter-force that need operate scraper bowl cylinder 115 grades again, will act on dipper 111 reduces, and operates very numerous and diverse.In addition, when dipper was operated, even press Pf under situation about changing between Ps and the Pr in the operation loop, motor verted and also can't press Pf in the tracking task loop.The CLV ceiling limit value qlim that motor in the case verts for example becomes the mean value q3 of q1 and q2, and the driving force of going can fully not reduce, thereby must carry out numerous and diverse operation same as described above for promoting scraper bowl 112.
First mode of execution according to above can obtain following technique effect.
(1) press Pf when the operation loop and become more than the specified value Ps, the maximum value that motor is verted is reduced to q1 point-blank from qmax.Thus, when dipper is operated, press near the Pr even the operation loop presses Pf sharply to rise to safety, it is excessive that the driving force of going can not become yet, and dipper pull-up power realizes balance with the driving force of going, and can easily scraper bowl 112 be promoted.
(2) pressing Pf in the operation loop is specified value Ps when following, because the maximum value that motor is verted is set at qmax (100%), thereby can bring into play the maximum driving force of going, and can sufficient native sand etc. be taken in the scraper bowl.
(3) because the maximum value of scraper bowl operating range Rb is set specified value Ps; Thereby can easily need the scraper bowl operation of the big driving force of going respectively and not need the dipper of the big driving force of going to operate, can carry out the digging operation of wheel loader well.
Second mode of execution
With reference to Fig. 6, Fig. 7 second mode of execution of the travel controlling system of working truck of the present invention is described.
In the first embodiment, press Pf to become the CLV ceiling limit value that specified value Ps verts motor when above when the operation loop and be reduced to specified value q1, and in second mode of execution, make specified value q1 variable.In addition, mainly the difference with first mode of execution is described below.
Fig. 6 is the figure that the summary of the travel controlling system of expression second mode of execution constitutes.Wherein, the position identical with Fig. 2 marked same reference character.As shown in Figure 6, press Pt and operation loop except that the loop of going and press the Pf, also import signal from diverter switch 20.Diverter switch 20 is hand switches of three grades that the size of the driving force of going when excavating switches to P pattern, N pattern, L pattern, according to the kind of excavating object and pavement behavior etc., is switched arbitrarily by the operating personnel.In addition, can also make diverter switch 20 can carry out the switching of two-stage, can also make it can carry out the above switching of level Four.
As shown in Figure 7, in the function generator 10B of second mode of execution, be respectively equipped with and P pattern, N pattern, the corresponding a plurality of characteristic L21 of L pattern～L23.As each characteristic L21～L23, till the operation loop pressed Pf to arrive specified value Ps, the CLV ceiling limit value qlim that motor verts equated with the maximum qmax (100%) that verts; And in the Pf scope bigger than specified value Ps pressed in the operation loop; The CLV ceiling limit value qlim that the motor of characteristic L21 (P pattern) verts is set to qP; The CLV ceiling limit value qlim that the motor of characteristic L22 (N pattern) verts is set to qN, and the CLV ceiling limit value qlim that the motor of characteristic L23 (L pattern) verts is set to qL.Between specified value qP, qN, qL, there is the relation of qP＞qN＞qL.
In second mode of execution, the operator judges the kind of excavating object and pavement behavior etc., operates diverter switch 20, preference pattern.For example, select the P pattern excavating under the situation of hard thing that object is a rubble etc.Thus, be more than the specified value Ps even Pf is pressed in the operation loop, because that motor verts is bigger, thereby can obtain the big driving force of going of situation than other patterns of selection, can carry out operation efficiently.In addition, be that the situation of the soft-body of sand, snow etc. is descended excavating object, select the L pattern.Thus, pressing P in the operation load is specified value Ps when above, compares the driving force of going with the situation of other patterns of selection and diminishes, and tire is produced carry out operation slippingly efficiently.
Like this; In second mode of execution; Because can press Pf to the operation loop is that the CLV ceiling limit value qlim that the motor of specified value Ps when above verts changes arbitrarily; Dipper pull-up power during therefore easily to digging operation and the balance of going between the driving force are adjusted, regardless of the kind of excavating object and pavement behavior etc., the operating efficiency in the time of can both improving digging operation.
The 3rd mode of execution
With reference to Fig. 8～Figure 11 the 3rd mode of execution of the travel controlling system of working truck of the present invention is described.
In the first embodiment; Reaching more than the specified value Ps CLV ceiling limit value that is condition, motor is verted with operation loop pressure Pf reduces; And in the 3rd mode of execution, press Pf to reach more than the specified value Ps and go more than the loop pressure Pt arrival specified value Pts CLV ceiling limit value that is condition, motor is verted to reduce with the operation loop.In addition, mainly the difference with first mode of execution is described below.
The hatched example areas of Fig. 8 representes that the operation loop presses Pf to reach more than the specified value Ps and the loop of going presses Pt to arrive the above digging operation zone of specified value Pts.Controller 10 whether carry out the operation loop press Pf reach the above and loop of going of specified value Ps press Pt arrive specified value Pts above, promptly whether be the judgement of digging operation state.In addition, judge the endurance t of digging operation state, for example as shown in Figure 9 along with the increase of endurance t, the CLV ceiling limit value qlim that motor is verted reduces with qa → qb → qc step by step.
The relation of the CLV ceiling limit value that expression endurance t and motor vert in Figure 10.In Figure 10, till endurance t arrived stipulated time t1, CLV ceiling limit value qlim was specified value qa; T1 is above and not to stipulated time t2, then CLV ceiling limit value qlim becomes specified value qb at the appointed time; More than the t2, then CLV ceiling limit value qlim becomes specified value qc at the appointed time.Wherein, specified value qc is equivalent to the specified value q1 of first mode of execution.Can also not make specified value qc is fixed value, and makes it can be according to variations such as model selections.
Like this, in the 3rd mode of execution, because along with the increase of the endurance t of digging operation, the CLV ceiling limit value qlim that motor is verted reduce step by step, therefore, can make dipper pull-up power together everywhere with effluxion and the driving force of going realizes balance well.Therefore; Even without as second mode of execution, carry out model selection by the operating personnel; Dipper pull-up power and the relation of driving force of going also can become and excavate corresponding optimal relations such as object and pavement behavior, and it is excessive and can't be with the problem of scraper bowl lifting to solve the driving force of going.
In addition, can also not make CLV ceiling limit value qlim that motor verts along with effluxion reduces step by step, but the CLV ceiling limit value qlim that motor is verted reduce gradually.Expression one of which example in Figure 11.In Figure 11, till the endurance of digging operation state t arrived stipulated time t1, the CLV ceiling limit value qlim that motor is verted was reduced to qb pro rata from qa; Then, till endurance t arrival stipulated time t2, make CLV ceiling limit value qlim be reduced to qc pro rata from qb; After endurance t further arrived more than the stipulated time t2, making CLV ceiling limit value qlim was qc.Through making CLV ceiling limit value qlim that motor verts like this along with effluxion reduces gradually, can prevent the motor rapid change of verting, can carry out digging operation swimmingly.
Though in the above-described embodiment, making the operation loop press the threshold value of Pf is that Ps is a fixed value, can also make Ps variable.Oil hydraulic pump 2 is connected with oil hydraulic motor 3 loop circuits; Form first loop as going with loop HC1; Operation as future, self-hydraulic pump 4 pressure oil guided to cylinder 114,115 etc. forms second loop with loop HC2, but its loop constitutes and is not limited to above-mentioned formation.For example, drive, but also can drive to divide other motor with 1 pair of oil hydraulic pump of same motor 2,4.In addition, with the constituting to go and use loop HC1 an of pump one motor, but also can utilize a plurality of motors to constitute the loop.From the function generator 10A export target qm that verts, according to this target qm driving regulator 11 control motor oil extraction volumes that vert, but the formation of motor control device is not limited thereto.For example regulator 11 can not constitute as electric yet, and constitutes as hydraulic type.
In function generator 10B; Set the characteristic L2 of the CLV ceiling limit value qlim that verts with the operation loop corresponding motor of pressure Pf; Control the maximum value that motor verts according to this characteristic L2; But as long as the maximum value of pressing Pf when the operation loop and surpassing specified value Ps, motor is verted is reduced to and maximum load is pressed (safety is pressed Pr) corresponding minimum limit value q1, then characteristic L2 can be arbitrarily, and the structure of maximum value limitation part is not limited to above-mentioned structure.
For example, can also be till the operation loop press Pf to reach specified value Ps, the CLV ceiling limit value qlim that motor is verted reduces gradually, in case surpass specified value Ps then sharply minimizing.That is, in case the operation loop presses Pf to surpass specified value Ps, compare with the situation that does not surpass specified value Ps, the minimizing ratio of the CLV ceiling limit value qlim that motor verts increases.Can also be like Figure 12 (a) in case dotted line shown in the operation loop press Pf to surpass specified value Ps then characteristic that CLV ceiling limit value qlim that motor verts gently reduces.Can also be like Figure 12 (b) in case dotted line shown in the operation loop press Pf near specified value Pa then the characteristic that the CLV ceiling limit value qlim that motor verts gently reduces.Through adopting such characteristic, the impact in the time of can reducing operation.
Can also cut-off valve be set in oil hydraulic circuit HC2 in operation, the operation loop be pressed the upper limit of Pf press the cut-out nearby of Pr in safety.In the case, in case as long as the operation loop press Pf surpass specified value Ps, then the maximum value that motor is verted be reduced to and cut off and press the corresponding minimum limit value of Pr.The CLV ceiling limit value qlim (Fig. 6) that operating and setting motor through diverter switch 20 verts, but the limits value configuration part can be any parts.
In controller 10 (Fig. 3), in function generator 10A, according to predetermined characteristic L1 (first characteristic) computing and the corresponding motor of load pressure Pt with oil hydraulic circuit HC1 of the going qm (the first oil extraction volume) that verts as first operational loop.In addition, in function generator 10B, according to predetermined characteristic L2 (second characteristic) computing and the corresponding motor of load pressure Pf with oil hydraulic circuit HC2 of the going qlim (the second oil extraction volume) that verts as second operational loop.In addition, selecting among the 10C of loop as the minimum value of output loop, the maximum value that motor is verted be controlled to be motor that computing obtains vert among qm, the qlim arbitrary less value and export control signal, but the processing of controller 10 is not limited thereto.
More than, to travel controlling system of the present invention being applicable to the example of wheel loader is illustrated, but the present invention can likewise be applicable to other working truck.That is,, the invention is not restricted to the travel controlling system of mode of execution as long as can realize characteristic of the present invention, function.
Application of the present invention is the basis with Japanese patent application 2007-61954 number (application on March 12nd, 2007), and its content is write this case as quoting literal.
Claims (8)
1. the travel controlling system of a working truck is characterized in that, has:
First loop is connected the variable capacity type oil hydraulic pump and forms this first loop with variable capacity type oil hydraulic motor loop circuit, and this first loop has the motor control device of the oil extraction volume of the said oil hydraulic motor of control;
Second loop, this second loop is through driving with hydraulic actuator operation from the pressure oil of operation with oil hydraulic pump;
The maximum value limitation part, this maximum value limitation part presses the maximum value to the oil extraction volume of said oil hydraulic motor to limit according to the load in said second loop,
Press above first specified value when the load in said second loop, said maximum value limitation part is reduced to the maximum load in said second loop maximum value of said oil extraction volume and presses corresponding minimum limit value,
Said operation has the scraper bowl that drives scraper bowl and uses cylinder with the dipper that cylinder and driving are used to support the dipper of scraper bowl with hydraulic actuator,
Said first specified value is redefined for based on said scraper bowl and presses with the maximum load of the driving of cylinder.
2. the travel controlling system of working truck as claimed in claim 1 is characterized in that,
Also have the limits value configuration part, said minimum limit value is set through manually-operable in this limits value configuration part.
3. the travel controlling system of working truck as claimed in claim 1 is characterized in that,
Press the drive pressure that surpasses said first specified value and said first loop when the load in said second loop and surpass second specified value, be reduced to said minimum limit value step by step along with the said maximum value limitation part of effluxion makes the maximum value of said oil extraction volume.
4. the travel controlling system of working truck as claimed in claim 1 is characterized in that,
Press the drive pressure that surpasses said first specified value and said first loop when the load in said second loop and surpass second specified value, be reduced to said minimum limit value gradually along with the said maximum value limitation part of effluxion makes the maximum value of said oil extraction volume.
5. the travel controlling system of working truck as claimed in claim 1 is characterized in that,
When the load in said second loop is pressed above said first specified value, press the situation that surpasses said first specified value to compare with the load in said second loop, said maximum value limitation part increases the peaked minimizing ratio of said oil extraction volume.
6. the travel controlling system of working truck as claimed in claim 1 is characterized in that,
Said maximum value limitation part has:
First operational loop, this first operational loop is according to predetermined first characteristic, and the first oil extraction volume of corresponding said oil hydraulic motor is pressed in the load in computing and said first loop;
Second operational loop, this second operational loop is according to predetermined second characteristic, and the second oil extraction volume of corresponding said oil hydraulic motor is pressed in the load in computing and said second loop;
Output loop, this output loop is exported control signal with the peaked mode that said first oil extraction volume that said computing is obtained and the arbitrary smaller value in the said second oil extraction volume are restricted to said oil extraction volume,
Said second characteristic is set to, when the said second oil extraction volume reducing to said minimum limit value is pressed when surpassing said first specified value in the load in said second loop.
7. the travel controlling system of working truck as claimed in claim 6 is characterized in that,
Said second characteristic is set to, and presses in the load in said second loop not reach in the scope of said first specified value, and the said second oil extraction volume is consistent with the maximum value of said first characteristic.
8. the travel controlling system of working truck as claimed in claim 1 is characterized in that,
It is the safety pressure that limits with safety valve that the maximum load in said second loop is pressed.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP061954/2007 | 2007-03-12 | ||
| JP2007061954A JP5129493B2 (en) | 2007-03-12 | 2007-03-12 | Travel control device for work vehicle |
| PCT/JP2008/054519 WO2008120545A1 (en) | 2007-03-12 | 2008-03-12 | Travel control device for work vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101631973A CN101631973A (en) | 2010-01-20 |
| CN101631973B true CN101631973B (en) | 2012-11-14 |
Family
ID=39808128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008800080719A Active CN101631973B (en) | 2007-03-12 | 2008-03-12 | Travel control device for work vehicle |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US8671673B2 (en) |
| EP (1) | EP2131072B1 (en) |
| JP (1) | JP5129493B2 (en) |
| KR (1) | KR101414329B1 (en) |
| CN (1) | CN101631973B (en) |
| WO (1) | WO2008120545A1 (en) |
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| WO2009041495A1 (en) * | 2007-09-26 | 2009-04-02 | Tcm Corporation | Hydraulic pressure supply device for industrial vehicle |
| US8839920B2 (en) | 2008-04-17 | 2014-09-23 | Levant Power Corporation | Hydraulic energy transfer |
| WO2010104138A1 (en) * | 2009-03-12 | 2010-09-16 | 株式会社小松製作所 | Construction vehicle provided with operating machine |
| JP5208986B2 (en) * | 2010-03-19 | 2013-06-12 | 株式会社小松製作所 | Construction vehicle with work equipment |
| CN103797284B (en) * | 2011-08-25 | 2016-08-31 | 凯斯纽荷兰(中国)管理有限公司 | A kind of operate vehicle can the method for consecutive variations hydromechanical transmission |
| US8639429B2 (en) | 2012-03-30 | 2014-01-28 | Komatsu Ltd. | Wheel loader and method for controlling a wheel loader |
| CN104395535B (en) * | 2012-06-04 | 2017-09-08 | 株式会社Kcm | Working truck |
| ES2707281T3 (en) | 2012-09-04 | 2019-04-03 | Clark Equipment Co | Motorized machine |
| EP4450845A3 (en) | 2013-03-15 | 2025-01-01 | ClearMotion, Inc. | Active vehicle suspension improvements |
| US9702349B2 (en) | 2013-03-15 | 2017-07-11 | ClearMotion, Inc. | Active vehicle suspension system |
| US9550404B2 (en) | 2013-03-15 | 2017-01-24 | Levant Power Corporation | Active suspension with on-demand energy flow |
| JP6368495B2 (en) * | 2014-01-29 | 2018-08-01 | 株式会社小松製作所 | Work vehicle and control method thereof |
| WO2015102058A1 (en) * | 2014-05-30 | 2015-07-09 | 株式会社小松製作所 | Method for controlling industrial vehicle, device for controlling industrial vehicle, and industrial vehicle |
| JP6555592B2 (en) | 2016-09-28 | 2019-08-07 | 日立建機株式会社 | Work vehicle |
| DE102018211586A1 (en) * | 2018-06-29 | 2020-01-02 | Robert Bosch Gmbh | Wheel drive arrangement for a hydrostatic drive and hydrostatic drive |
| WO2020065914A1 (en) | 2018-09-28 | 2020-04-02 | 日立建機株式会社 | Loading work vehicle |
| EP3795755B1 (en) * | 2019-03-13 | 2023-07-05 | Hitachi Construction Machinery Co., Ltd. | Cargo handling work vehicle |
| WO2021055917A1 (en) | 2019-09-19 | 2021-03-25 | Clark Equipment Company | Drive motor displacement control |
| US12146301B2 (en) * | 2021-04-29 | 2024-11-19 | Caterpillar Inc. | Automatic torque control system |
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- 2008-03-12 CN CN2008800080719A patent/CN101631973B/en active Active
- 2008-03-12 KR KR1020097018965A patent/KR101414329B1/en not_active Expired - Fee Related
- 2008-03-12 EP EP08721935.8A patent/EP2131072B1/en active Active
- 2008-03-12 WO PCT/JP2008/054519 patent/WO2008120545A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| US8671673B2 (en) | 2014-03-18 |
| US20100095663A1 (en) | 2010-04-22 |
| EP2131072B1 (en) | 2021-08-11 |
| WO2008120545A1 (en) | 2008-10-09 |
| KR101414329B1 (en) | 2014-07-02 |
| EP2131072A1 (en) | 2009-12-09 |
| KR20090119972A (en) | 2009-11-23 |
| CN101631973A (en) | 2010-01-20 |
| JP2008223858A (en) | 2008-09-25 |
| JP5129493B2 (en) | 2013-01-30 |
| EP2131072A4 (en) | 2013-03-06 |
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